Modified from https://github.com/ros2/turtlebot2_demo/tree/a612ef2b9b63ba9d19513b67c1d6e5eede680cdf 
ros2 run depthimage_to_pointcloud2 depthimage_to_pointcloud2_node --ros-args -r depth:=/my_robot/my_depth_sensor/image -r depth_camera_info:=/my_robot/my_depth_sensor/camera_info -r pointcloud2:=/my_depth_sensor_pointcloud2 -r __node:=my_new_node_name -p range_max:=19.0 -p use_quiet_nan:=false Using color from a rgb image:
ros2 run depthimage_to_pointcloud2 depthimage_to_pointcloud2_node --ros-args -r depth:=/my_robot/my_depth_sensor/image -r depth_camera_info:=/my_robot/my_depth_sensor/camera_info -r pointcloud2:=/my_depth_sensor_pointcloud2 -r __node:=my_new_node_name -p range_max:=19.0 -p use_quiet_nan:=false -p colorful:=true -r image:=/my_robot/my_rgb_image ros2 launch depthimage_to_pointcloud2 depthimage_to_pointcloud2.launch.py full_sensor_topic:=/my_robot/my_depth_sensor range_max:=19.0 use_quiet_nan:=false rgb_image_topic:=/my_robot/my_rgb_image Using color from a rgb image:
ros2 launch depthimage_to_pointcloud2 depthimage_to_pointcloud2.launch.py full_sensor_topic:=/my_robot/my_depth_sensor range_max:=19.0 use_quiet_nan:=false rgb_image_topic:=/my_robot/my_rgb_image Note:
use_quiet_nan:=truewill show any invalid or out-of-range point as a quiet NaNuse_quiet_nan:=falsewill show any invalid or out-of-range point as a depth with value range_max (whenrange_max!=0.0).
from launch import LaunchDescription from launch_ros.actions import Node def generate_launch_description(): return LaunchDescription([Node( package="depthimage_to_pointcloud2", executable="depthimage_to_pointcloud2_node", output='screen', name=`my_node_name`, parameters=[{'range_max': '19.0', 'use_quiet_nan': 'false', 'colorful': 'true'}], remappings=[ ("image", "/my_rgb_image"), ("depth", "/my_depth_sensor/image"), ("depth_camera_info", "/my_depth_sensor/camera_info"), ("pointcloud2", "/my_output_topic") ] ) ]) Note:
- Just set
'colorful': 'false'if you don't want to use the color from a rgb image.
from launch.substitutions import LaunchConfiguration, PythonExpression from launch import LaunchDescription from launch_ros.actions import Node from launch.actions import DeclareLaunchArgument def generate_launch_description(): return LaunchDescription([ DeclareLaunchArgument( 'full_sensor_topic', default_value=['/my_depth_sensor'], description='Base for topic (and node) names'), DeclareLaunchArgument( 'range_max', default_value='0.0', description='Max range of depth sensor'), DeclareLaunchArgument( 'use_quiet_nan', default_value='true', description='Use quiet NaN instead of range_max'), DeclareLaunchArgument( 'rgb_image_topic', default_value='', description='Colorize the point cloud from external RGB image topic'), Node( package="depthimage_to_pointcloud2", executable="depthimage_to_pointcloud2_node", output='screen', name=[PythonExpression(["'", LaunchConfiguration('full_sensor_topic'), "'.split('/')[-1]"]), '_depth2pc2'], parameters=[{'range_max': LaunchConfiguration('range_max'), 'use_quiet_nan': LaunchConfiguration('use_quiet_nan'), 'colorful': PythonExpression(["'true' if '", LaunchConfiguration('rgb_image_topic'), "' else 'false'"])}], remappings=[ ("image", PythonExpression(["'", LaunchConfiguration('rgb_image_topic'), "' if '", LaunchConfiguration('rgb_image_topic'), "' else 'false'"])), ("depth", [LaunchConfiguration('full_sensor_topic'), "/image"]), ("depth_camera_info", [LaunchConfiguration('full_sensor_topic'), "/camera_info"]), ("pointcloud2", [PythonExpression(["'", LaunchConfiguration('full_sensor_topic'), "'.split('/')[-1]"]), "_pointcloud2"]) ] ) ]) And considering my full_sensor_topic is /my_weird/depth_sensor:
$ ros2 launch depthimage_to_pointcloud2 depthimage_to_pointcloud2.launch.py full_sensor_topic:=/my_weird/depth_sensor It will subscribe to the topics:
/my_weird/depth_sensor/image /my_weird/depth_sensor/camera_info And publish the pointcloud2 on:
/depth_sensor_pointcloud2 If you want to colorize the pointcloud2 using an external rgb image (with the same dimensions as the depth image), set the parameter rgb_image_topic with the rgb image topic:
$ ros2 launch depthimage_to_pointcloud2 depthimage_to_pointcloud2.launch.py full_sensor_topic:=/my_weird/depth_sensor rgb_image_topic:=/my_weird/rgb_image Finally, the node name will be /depth_sensor_pointcloud2 because it gets the depth_sensor after splitting (\) the full_sensor_topic and getting the last item.